Analysis on Key Technologies of Dual-Robot Collaborative Assembly for Narrow Space of Aircraft

LIU Hongwei; PAN Xin; ZHANG Qi; ZHANG Haosong; LI Pengcheng; TIAN Wei

doi:10.16080/j.issn1671-833x.2022.18.055

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Analysis on Key Technologies of Dual-Robot Collaborative Assembly for Narrow Space of Aircraft

更新时间：2025-10-30

- Analysis on Key Technologies of Dual-Robot Collaborative Assembly for Narrow Space of Aircraft
- Aeronautical Manufacturing Technology Vol. 65, Issue 18, Pages: 55-62(2022)
- 作者机构：
  
  1. 航空工业沈阳飞机工业（集团）有限公司,沈阳,110850
  2. 南京航空航天大学,南京,210016
- 作者简介：
- 基金信息：
- DOI：10.16080/j.issn1671-833x.2022.18.055
  CLC：
- Published：2022
- 稿件说明：
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刘宏伟，潘新，张奇，张浩松，李鹏程，田威. 面向飞机狭窄空间的双机器人协同装配关键技术分析[J]. 航空制造技术, 2022, 65(18): 55-62.

LIU Hongwei，PAN Xin，ZHANG Qi，ZHANG Haosong，LI Pengcheng，TIAN Wei. Analysis on Key Technologies of Dual-Robot Collaborative Assembly for Narrow Space of Aircraft[J]. Aeronautical Manufacturing Technology, 2022, 65(18): 55-62.
刘宏伟，潘新，张奇，张浩松，李鹏程，田威. 面向飞机狭窄空间的双机器人协同装配关键技术分析[J]. 航空制造技术, 2022, 65(18): 55-62. DOI： 10.16080/j.issn1671-833x.2022.18.055.

LIU Hongwei，PAN Xin，ZHANG Qi，ZHANG Haosong，LI Pengcheng，TIAN Wei. Analysis on Key Technologies of Dual-Robot Collaborative Assembly for Narrow Space of Aircraft[J]. Aeronautical Manufacturing Technology, 2022, 65(18): 55-62. DOI： 10.16080/j.issn1671-833x.2022.18.055.

摘要

针对飞机狭窄空间装配工作量大且制孔质量及精度要求高等难题，提出一种面向飞机狭窄空间的双机器人引导 – 协同作业智能控制技术。研究双机器人轨迹规划以及协同离线仿真、机器人协作视觉伺服控制补偿、可快换的多功能末端执行器设计关键技术，在保证机器人系统与工件的安全作业时，完成目标孔位的加工，以提高装配的精度，降低装配空间的占用，为进气道性能设计提供支撑。试验表明，通过视觉伺服控制补偿，机器人的绝对定位误差降至 ±0.1 mm 以内。

Abstract

Aiming at the problem of large assembly workload

high quality and precision requirements of hole making in aircraft narrow space

an intelligent control technology of dual-robot guided cooperative operation for aircraft narrow space was proposed. The key technologies of dual-robot trajectory planning and cooperative off-line simulation

robot collaborative visual servoing control compensation

and quick change of multi-function terminal actor design are investigated. The processing of the target hole position is completed while ensuring the safe operation of the robot system and the workpiece

in order to improve the assembly accuracy

reduce the assembly space occupation

provide support for the design of the inlet performance. Experiments show that the absolute positioning error of the robot is reduced to ±0.1mm by visual servoing control.

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